diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java index fdb87a8..ca82b77 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java @@ -28,7 +28,6 @@ import com.zhangy.skyeye.publics.consts.UavAirlineUploadEnum; import com.zhangy.skyeye.publics.consts.WebSocketKey; import com.zhangy.skyeye.publics.service.SysFileTypeService; import com.zhangy.skyeye.publics.utils.CoordUtil; -import com.zhangy.skyeye.py.service.IPyAirlineService; import com.zhangy.skyeye.quartz.service.QuartzService; import com.zhangy.skyeye.sar.consts.SarImageModeEnum; import com.zhangy.skyeye.sar.dto.SarControlParamDTO; @@ -353,7 +352,7 @@ public class JmJobServiceImpl implements JmJobService { JmJobUav uav = job.getUavList().get(0); List airlineList = uav.getAirlineList(); - for(JmAirline airline:airlineList) { + for (JmAirline airline : airlineList) { log.info("we are going to start job {}", job.getId()); log.info("airline origin status is {}, set to {}", airline.getStatus(), ExecStatusEnum.NOT); airline.setStatus(ExecStatusEnum.NOT.getValue()); @@ -377,6 +376,7 @@ public class JmJobServiceImpl implements JmJobService { // 4.任务状态放入缓存 jobStatusService.add(job); } catch (Throwable ex) { + log.warn("{}", ex.getMessage(), ex); jobStatusService.remove(job.getId()); throw ex; } diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java index 9678c2c..53a6a52 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java @@ -78,9 +78,11 @@ public class SarControlContext { * @param param */ public void execute(SarControlParamDTO param) { + log.info("execute :{}", JSON.toJSONString(param)); List matchedStrategys = strategies.stream() .filter(strategy -> strategy.supports(param)) .collect(Collectors.toList()); + log.info("matchedStrategys :{}", JSON.toJSONString(matchedStrategys)); if (ObjectUtil.isEmpty(matchedStrategys)) { throw ServiceException.errorLog("无效的控制指令！"); } diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java index 1890dcc..d4cc607 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarStatusListener.java @@ -75,11 +75,10 @@ public class SarStatusListener extends SarAbstractListener { if (packet.getLength() != 100) { return; } - log.debug("接收到状态包----------------------"); String ip = packet.getAddress().getHostAddress(); // 处理接收到的数据 SarStatusPackDTO packDTO = SarStatusPackDTO.parse(ip, packet.getData()); - log.debug("recv status:\n{}", JSON.toJSONString(packDTO)); + log.trace("recv status:\n{}", JSON.toJSONString(packDTO)); if (packDTO == null) { if (running) log.warn("状态包校验失败，已丢弃。"); @@ -102,6 +101,5 @@ public class SarStatusListener extends SarAbstractListener { sarJobStatusService.update(ip, info); sarCache.saveStatus(ip, info); // 使用 SarCache，类型安全，自动短期缓存，自动过期 } - log.debug("状态包解析完毕"); } } \ No newline at end of file diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java index d453c24..957aa7f 100644 --- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java +++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java @@ -1,11 +1,12 @@ package com.zhangy.skyeye.sar.service.impl; +import com.alibaba.fastjson2.JSON; +import com.zhangy.skyeye.cache.sar.SarCache; import com.zhangy.skyeye.common.extend.exception.ServiceException; import com.zhangy.skyeye.common.extend.util.JsonUtil; import com.zhangy.skyeye.jm.dto.JmJobDTO; import com.zhangy.skyeye.jm.dto.JmSarStatusDTO; import com.zhangy.skyeye.jm.entity.JmJobPayload; -import com.zhangy.skyeye.cache.sar.SarCache; import com.zhangy.skyeye.sar.control.SarControlContext; import com.zhangy.skyeye.sar.dto.SarControlParamDTO; import com.zhangy.skyeye.sar.enums.SarControlTypeEnum; @@ -31,6 +32,7 @@ public class SarControlServiceImpl implements ISarControlService { @Override public void sendUdp(JmJobDTO job) { + log.info("sendUdp：{}", JSON.toJSONString(job)); if (job == null || job.getUavList() == null) return; job.getUavList().forEach(uav -> { JmJobPayload sar = uav.getSar0(); @@ -43,7 +45,7 @@ public class SarControlServiceImpl implements ISarControlService { param.setImageBit(sar.getImageBit()); param.setResolution(sar.getResolution()); if (job.getMode().equals(CRUISE.getCode())) { - param.setControlType(SarControlTypeEnum.TURNON); + param.setControlType(SarControlTypeEnum.UPLOAD); } else { param.setControlType(SarControlTypeEnum.AUTO); } @@ -62,6 +64,7 @@ public class SarControlServiceImpl implements ISarControlService { }); } + @Override public void sendUdp(SarControlParamDTO param) { udpSendContext.execute(param); diff --git a/frontend/Skyeye-sys-ui/src/views/home/components/task-manage/index.js b/frontend/Skyeye-sys-ui/src/views/home/components/task-manage/index.js index 0c6c9a9..28508ca 100644 --- a/frontend/Skyeye-sys-ui/src/views/home/components/task-manage/index.js +++ b/frontend/Skyeye-sys-ui/src/views/home/components/task-manage/index.js @@ -1151,7 +1151,7 @@ export default { }) let airlineList = [ { - direction: 0, + direction: params.direction, distance: 0, endHeight: 0, endLat: 0, @@ -1165,7 +1165,7 @@ export default { flightStartLat: 0, flightStartLon: 0, flightType: 0, - grazingAngle: 0, + grazingAngle: 90 - params.theta, groundStartHeight: 0, groundStartLat: 0, groundStartLon: 0, diff --git a/frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/OrthoImageryManager.js b/frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/OrthoImageryManager.js index 1c5accb..4c5df99 100644 --- a/frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/OrthoImageryManager.js +++ b/frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/OrthoImageryManager.js @@ -11,7 +11,7 @@ export default class OrthoImageryManager { this.maxLayers = options.maxLayers || 400; // 全局亮度与透明度 - this.globalBrightness = options.brightness ?? 1.0; + this.globalBrightness = options.brightness ?? 2; this.globalAlpha = options.alpha ?? 1.0; } @@ -39,7 +39,7 @@ export default class OrthoImageryManager { const layer = this.viewer.cesiumViewer.imageryLayers.addImageryProvider(provider); // ✅ 使用全局亮度和透明度，保证新图生效 - layer.brightness = brightness ? brightness : this.globalBrightness; + layer.brightness = this.globalBrightness; console.log(layer.brightness, '新增图片时的亮度值'); layer.alpha = this.globalAlpha; @@ -54,7 +54,7 @@ export default class OrthoImageryManager { * 设置全局亮度，影响所有已有图片和未来新推送的图片 */ setBrightness(value) { - // this.globalBrightness = value; + this.globalBrightness = value; this.layerMap.forEach(layer => { layer.brightness = value; }); diff --git a/frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/index.js b/frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/index.js index cca2fa8..cdeb0a5 100644 --- a/frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/index.js +++ b/frontend/Skyeye-sys-ui/src/views/home/components/twin-situation/index.js @@ -54,6 +54,7 @@ let sceneEntity = {} let taskListResource = [] let orthoManager = null let socketPositionIndex = 0 +let uavTracks = {} const lang = window.localStorage.getItem('locale') || 'zh_CN' export default { name: 'TwinSituation', @@ -472,7 +473,7 @@ export default { // ) orthoManager = new OrthoImageryManager(viewer, DT.Cesium, { maxLayers: 400, - brightness: 1, // 默认亮度 + brightness: 5, // 默认亮度 alpha: 1.0 // 默认透明度 }) // this.startTest() @@ -481,6 +482,7 @@ export default { this.SET_SPLIT_VISIBLE(false) this.removePictureHandle() socketPositionIndex = 0 + uavTracks = {} if (orthoManager) { orthoManager.clearAll() orthoManager = null @@ -1099,6 +1101,7 @@ export default { let data = res.data.data let list = [] socketPositionIndex = 0 + uavTracks = {} data.forEach(item => { // item.check = item.status === 1 || item.status === 3 item.check = false @@ -1118,7 +1121,7 @@ export default { uav = item.uavList[0].uavName if (item.uavList[0].payloadList.length) { sar = item.uavList[0].payloadList[0].payloadName - ip = item.uavList[0].ip + ip = item.uavList[0].payloadList[0].ip } } list.push({ @@ -1582,6 +1585,7 @@ export default { // } this.removeTaskTarget(info.id); socketPositionIndex = 0 + uavTracks = {} if (orthoManager) { orthoManager.clearAll() orthoManager = null @@ -1614,7 +1618,9 @@ export default { viewer.entities.remove(item) } }) + viewer.entities socketPositionIndex = 0 + uavTracks = {} if (orthoManager) { orthoManager.clearAll() orthoManager = null @@ -2786,51 +2792,76 @@ export default { this.updateSceneUav(data) }, updateSceneUav(data) { - console.log(data, 44444); + // 1. 坐标转换（建议添加异常处理，避免非法坐标） + if (!data.longitude || !data.latitude) { + console.warn('无人机坐标不完整', data); + return; + } + let position = DT.Cesium.Cartesian3.fromDegrees( + Number(data.longitude), + Number(data.latitude), + Number(data.altitude) || 0 // 高度默认0，避免undefined + ); + let uavId = 'uav-' + data.jobId; - let position = DT.Cesium.Cartesian3.fromDegrees(data.longitude, data.latitude, data.altitude) - let entity = viewer.entities.getById('uav-' + data.id) + // 2. 轨迹数组维护（过滤重复坐标，避免无长度轨迹） + if (uavTracks[uavId]) { + // 获取最后一个坐标，计算与新坐标的距离（小于1米则不添加） + const lastPos = uavTracks[uavId][uavTracks[uavId].length - 1]; + const distance = lastPos ? DT.Cesium.Cartesian3.distance(lastPos, position) : 0; + // 只有距离大于1米时才添加新坐标，避免高频重复 + if (distance > 1) { + uavTracks[uavId].push(position); + // 限制轨迹长度，避免数组过大（可选，比如最多保存1000个点） + if (uavTracks[uavId].length > 1000) { + uavTracks[uavId].shift(); + } + } + } else { + uavTracks[uavId] = [position]; + } + // 3. 获取/创建无人机实体 + let entity = viewer.entities.getById(uavId); if (entity) { - entity.position = position + entity.position = position; } else { entity = viewer.entities.add({ - id: 'uav-' + data.id, + id: uavId, position: position, label: { text: '无人机', font: '14px sans-serif', - fillColor: DT.Cesium.Color.WHITE, + fillColor: DT.Cesium.Color.RED, horizontalOrigin: DT.Cesium.HorizontalOrigin.LEFT, verticalOrigin: DT.Cesium.VerticalOrigin.CENTER, disableDepthTestDistance: 100000, - pixelOffset: new DT.Cesium.Cartesian2(10, 0), showBackground: true, scaleByDistance: new DT.Cesium.NearFarScalar(0, 1, 1, 0.8), - distanceDisplayCondition: new DT.Cesium.DistanceDisplayCondition(0, 20000), - backgroundColor: DT.Cesium.Color.fromCssColorString('rgba(0,0,0,0.7)'), - style: DT.Cesium.LabelStyle.FILL_AND_OUTLINE, + distanceDisplayCondition: new DT.Cesium.DistanceDisplayCondition(0, 10000), + backgroundColor: DT.Cesium.Color.fromCssColorString('rgba(255,255,255,0.6)'), + pixelOffset: new DT.Cesium.Cartesian2(10, -15), }, model: { uri: process.env.BASE_URL + 'model/uav.gltf', minimumPixelSize: 64, maximumScale: 128, }, - // point: { - // pixelSize: 40, - // color: DT.Cesium.Color.RED, - // disableDepthTestDistance: 10000 - // }, polyline: { - positions: new DT.Cesium.CallbackProperty(function () { - return this.positions + // 修复：绑定uavId到回调作用域，避免丢失 + positions: new DT.Cesium.CallbackProperty(() => { + return uavTracks[uavId] || []; }, false), - width: 8, - zIndex: 600, - material: DT.Cesium.Color.BLACK, - depthFailMaterial: DT.Cesium.Color.CYAN, - arcType: DT.Cesium.ArcType.NONE + width: 2, // 线宽加大，更容易观察 + zIndex: 600, // 提高层级，避免被其他元素覆盖 + material: DT.Cesium.Color.fromCssColorString('#1fe46b'), // 半透明，更易见 + depthFailMaterial: DT.Cesium.Color.CYAN.withAlpha(0.8), + arcType: DT.Cesium.ArcType.NONE, // 关键：添加直线轨迹配置 + disableDepthTestDistance: Number.POSITIVE_INFINITY, // 永不被遮挡 + distanceDisplayCondition: new DT.Cesium.DistanceDisplayCondition(0, 50000), // 扩大显示范围 + clampToGround: false, // 不贴地，跟随无人机高度 + show: true // 显式开启，避免默认隐藏 } - }) + }); } }, handleWebsocketWave(info) { @@ -2870,7 +2901,7 @@ export default { // this.imageInfos = Object.assign({}, this.imageInfos, data) // this.imageInfos.brightness = data.brightness console.log('SAR图像2', data) - orthoManager.add(data, this.imageInfos.brightness) + orthoManager.add(data) // this.addMarkPicture2(data) // console.log('灭有匹配到吗taskUavCollection', taskUavCollection, taskUavCollection[data.jobId]) // if (taskUavCollection[data.jobId]) { @@ -3090,6 +3121,7 @@ export default { } }) socketPositionIndex = 0 + uavTracks = {} if (orthoManager) { orthoManager.clearAll() orthoManager = null